CN110411366A - A kind of detection method and electronic equipment of road depth of accumulated water - Google Patents

A kind of detection method and electronic equipment of road depth of accumulated water Download PDF

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Publication number
CN110411366A
CN110411366A CN201910698565.4A CN201910698565A CN110411366A CN 110411366 A CN110411366 A CN 110411366A CN 201910698565 A CN201910698565 A CN 201910698565A CN 110411366 A CN110411366 A CN 110411366A
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Prior art keywords
image
ponding
set point
value
region
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Granted
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CN201910698565.4A
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CN110411366B (en
Inventor
杨文利
严晗
王伦
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Beijing Linjun Technology Co Ltd
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Beijing Linjun Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves
    • G01F23/292—Light, e.g. infrared or ultraviolet
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Abstract

The present embodiments relate to technical field of vehicle safety, in particular to the detection method and electronic equipment of a kind of road depth of accumulated water.This method can obtain laser radar to the emission time of each set point transmitting first laser beam and obtain the time of reception of laser radar reception second laser beam；The D coordinates value of each set point is determined according to the corresponding emission time of each set point and the time of reception；Then according to the electronic map prestored, the pavement-height value of each set point is determined；According to the D coordinates value of each set point and pavement-height value, the ponding type at each set point is determined；The depth of accumulated water figure of setting regions is finally obtained based on ponding type.It so, it is possible the influence by extraneous factor to the ponding water surface to take into account, so that it is determined that different ponding type out, and then ensure that depth of accumulated water figure is obtained according to different ponding types, it can be improved the accuracy and applicability of surface gathered water depth detection.

Description

A kind of detection method and electronic equipment of road depth of accumulated water
Technical field
The present embodiments relate to technical field of vehicle safety, in particular to a kind of detection of road depth of accumulated water Method and electronic equipment.
Background technique
One of an important factor for highway pavement ponding is influence driving safety.Vehicle travels on ponding road surface can generate one The safety accident arranged a bit.
For example, ponding can form one layer of water moisture film, pole between road surface and wheel when vehicle high-speed passes through ponding road surface The earth reduces adhesive force and frictional force between wheel and road surface, easily causes the out of control of vehicle, to cause serious accident.
In another example designing when leading to road unilateral side ponding when due to road superelevation or horizontal slope, vehicle only has side tire to relate to Water.When vehicle moves quickly through unilateral ponding road surface, ponding can increase the running resistance for side wheel tire of paddling suddenly, to destroy vehicle The resistance balance of two sides tire, causes vehicle heading to deflect, cause it is serious to lose control of one's vehicle.
For another example when depth of accumulated water it is deeper, more than vehicle paddle limit depth when, ponding can be from engine charge pipeline Cylinder is sucked, causes engine misses, the damage of cylinder, connecting rod and crankshaft is also resulted in when serious, in turn Lead to scrapping for engine.
Further, since electric vehicle at this stage is universal, more and more electric vehicles travelings are on road surface, when depth of accumulated water is super Cross electric vehicle paddle limit depth when, ponding can enter vehicle battery and electric-control system, detonator circuit short circuit, even result in Vehicle fire and explosion.
Therefore, road pavement depth of accumulated water is detected, and taking corresponding precautionary measures according to testing result is very must It wants.
But existing surface gathered water depth detection method accuracy is low and poor for applicability.
Summary of the invention
In view of this, the present invention provides the detection methods and electronic equipment of a kind of road depth of accumulated water.
The embodiment of the invention provides a kind of detection method of road depth of accumulated water, it is applied to communicate to connect with laser radar Electronic equipment, the laser radar is set to vehicle, and the road surface ahead region of the vehicle is defined as setting regions, the side Method includes:
When the laser radar is scanned multiple set points in the setting regions, for each set point, Emission time of the laser radar to set point transmitting first laser beam is obtained, the laser radar reception second is obtained and swashs The time of reception of light beam, the second laser beam are reflection laser beam of the first laser beam at the set point；It is described to set Fixed point is that the first laser beam is made to generate point corresponding to irreflexive object；
According to the corresponding emission time of each set point and the time of reception, determine each set point in the world D coordinates value under coordinate system；
According to the electronic map prestored, pavement-height of each set point under the world coordinate system is determined Value；
According to the D coordinates value and pavement-height value of each set point, the ponding at each set point is determined Type；
According to the ponding type, the depth of accumulated water figure of the setting regions is obtained.
Optionally, described according to the corresponding emission time of each set point and the time of reception, it determines described each D coordinates value of the set point under world coordinate system, comprising:
According to the corresponding emission time of each set point and the time of reception, determine each set point in vehicle coordinate Relative spatial co-ordinates value under system；
Obtain vehicle space coordinate value of the vehicle under the world coordinate system when laser radar is scanned With vehicle attitude parameter；
According to the vehicle space coordinate value, the relative spatial co-ordinates of the vehicle attitude parameter and each set point Value, determines D coordinates value of each set point under the world coordinate system.
Optionally, the D coordinates value and pavement-height value according to each set point is determined and described is each set Ponding type at fixed point, comprising:
For each set point, the setting coordinate value in the D coordinates value of the set point is obtained；Wherein, described to set Position fixing value is the coordinate value of Z-direction；
Determine the difference of the setting coordinate value of the set point and the pavement-height value of the set point；
According to the difference, the ponding type at the set point is determined.
Optionally, described according to the difference, determine the ponding type at the set point, comprising:
If the absolute value of the difference is less than given threshold, determine that the ponding type at the set point is that there is no ponding；
If the difference is more than or equal to the given threshold, determine the ponding type at the set point for non-calm water surface product Water；
If the difference is less than or equal to the opposite number of the given threshold, determine the ponding type at the set point for calmness Water surface ponding.
Optionally, described according to the ponding type, obtain the depth of accumulated water figure of the setting regions, comprising:
Obtain the three-dimensional coordinate for each set point that ponding type in the setting regions is the non-calm water surface ponding Value；
All D coordinates values got are fitted, the first ponding plane is obtained；
According to the electronic map, the road curved surface of the setting regions is determined；
According to the road curved surface and the first ponding plane, the depth of accumulated water figure of the setting regions is obtained, wherein The depth of accumulated water figure is contour map.
Optionally, described according to the ponding type, obtain the depth of accumulated water figure of the setting regions, comprising:
If the ponding type of all set points in the setting regions is calm water surface ponding,
Obtain multiple images；Wherein, every image is to be set to the camera of the vehicle to take, every figure It include the first image-region and the second image-region as in；The first image region is the surrounding enviroment figure of the setting regions Picture, second image-region are the image of the setting regions, include multiple objects in the first image region, described the It include multiple inverted images in two image-regions, each inverted image in second image-region corresponds in the first image region An object；
For every image, from every in the first image-region for determining the image in the second image-region of the image The inverted image of a object；
It is three-dimensional to obtain first object of each object in the first image-region of the image under the world coordinate system Coordinate value obtains second target three-dimensional of each inverted image in the second image-region of the image under the world coordinate system and sits Scale value；
For each object in the image, according to the first object D coordinates value of the object and the inverted image of the object The second target D coordinates value, the determining water surface point coordinate with water surface point corresponding to the inverted image of the object and the object Value；Wherein, water surface point is the line of the object and the inverted image of the object and the intersection point of the water surface；
Water surface point coordinate value in all images is fitted, the second ponding plane is obtained；
According to the electronic map, the road curved surface of the setting regions is determined；
According to the road curved surface and the second ponding plane, the depth of accumulated water figure of the setting regions is obtained, wherein The depth of accumulated water figure is contour map.
Optionally, described to be directed to every image, the first figure of the image is determined from the second image-region of the image As the inverted image of each object in region, comprising:
For each object in the first image-region of the image, the first eigenvector of the object is identified, obtain First relative coordinate values of the object relative to the vehicle；
It identifies the second feature vector of each inverted image in the second image-region of the image, obtains each inverted image The second relative coordinate values relative to the vehicle；
It is obtained according to the first eigenvector, first relative coordinate values, all second feature vector sums identified All second relative coordinate values got, determine the inverted image of the object.
Optionally, described according to the first eigenvector, first relative coordinate values, all second spies determined All second relative coordinate values that sign vector sum is got, determine the inverted image of the object, comprising:
According to first relative coordinate values and all second relative coordinate values, determine and level between the object Apart from the smallest inverted image；
According to the first eigenvector and all second feature vectors, determine with characteristic value between the object it The smallest inverted image of difference；
If the smallest inverted image of the horizontal distance and the smallest inverted image of difference of characteristic value is between the object between the object Same inverted image, will between the object the smallest inverted image of the horizontal distance or the smallest inverted image of difference of characteristic value is true between the object It is set to the inverted image of the object.
Optionally, the method also includes:
According to the default fording depth value of the depth of accumulated water figure and the vehicle, determine the vehicle in the setting area Safety in domain is paddled region and non-security region of paddling；Wherein, the safety depth of accumulated water value in region of paddling is less than etc. Depth of accumulated water value in the default fording depth value, the non-security region of paddling is greater than the default fording depth value；
It is paddled region and the non-security region of paddling according to the safety, judges whether the vehicle meets in motion Safety traffic condition；
If the vehicle is unsatisfactory for the safety traffic condition in motion, warning information of paddling is exported.
Optionally, described to be paddled region and the non-security region of paddling according to the safety, judge that the vehicle is expert at Whether safety traffic condition is met when sailing, comprising:
If the vehicle is not at the safety in motion and paddles in region, determine that the vehicle is discontented in motion The foot safety traffic condition, or
If determining that the vehicle can not paddle area in the safety according to vehicle speed in motion and direction Domain parking, determines that the vehicle is unsatisfactory for the safety traffic condition in motion, or
If determining that the vehicle can not avoid described non-security relate to according to vehicle speed in motion and direction Water area determines that the vehicle is unsatisfactory for the safety traffic condition in motion.
The embodiment of the invention also provides a kind of electronic equipment, the electronic equipment and laser radar communication connection, institute It states laser radar and is set to vehicle, the road surface ahead region of the vehicle is defined as setting regions, and the electronic equipment includes:
The emission time time of reception obtains module, for when the laser radar is to multiple settings in the setting regions When point is scanned, for each set point, when obtaining transmitting of the laser radar to set point transmitting first laser beam It carves, obtains the time of reception that the laser radar receives second laser beam, the second laser beam is that the first laser beam exists Reflection laser beam at the set point；The set point is to generate the first laser beam corresponding to irreflexive object Point；
Set point D coordinates value determining module, for according to the corresponding emission time of each set point and when receiving It carves, determines D coordinates value of each set point under world coordinate system；
Pavement-height value determining module, for determining each set point described according to the electronic map prestored Pavement-height value under world coordinate system；
Ponding determination type module is determined for the D coordinates value and pavement-height value according to each set point Ponding type at each set point；
Depth of accumulated water figure obtains module, for obtaining the depth of accumulated water figure of the setting regions according to the ponding type.
The detection method and electronic equipment of a kind of road depth of accumulated water provided in an embodiment of the present invention, can be in laser radar When being scanned to multiple set points in setting regions, hair of the laser radar to each set point transmitting first laser beam is obtained It penetrates the moment and obtains the time of reception that laser radar receives second laser beam, according to the corresponding emission time of each set point and connect Quarter in time receiving determines D coordinates value of each set point under world coordinate system, then according to the electronic map prestored, determines Pavement-height value of each set point under world coordinate system out, so it is high according to the D coordinates value of each set point and road surface Angle value determines the ponding type at each set point, to obtain the depth of accumulated water figure of setting regions according to ponding type.Its In, according to the D coordinates value of each set point and pavement-height value, determine the ponding type at each set point, it can will be outer Influence of boundary's factor to the ponding water surface is taken into account, so that it is determined that different ponding type out, and then ensure that depth of accumulated water figure is It is obtained according to different ponding types, so, it is possible the accuracy and applicability that improve surface gathered water depth detection.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of schematic diagram of depth of accumulated water detection device provided by the embodiment of the present invention.
Fig. 2 is a kind of flow chart of the detection method of road depth of accumulated water provided by the embodiment of the present invention.
Fig. 3 is the schematic diagram that laser radar provided by the embodiment of the present invention is scanned setting regions.
Fig. 4 is another schematic diagram that laser radar provided by the embodiment of the present invention is scanned setting regions.
Fig. 5 is the another schematic diagram that laser radar provided by the embodiment of the present invention is scanned setting regions.
Fig. 6 is a kind of schematic diagram of determining three dimensional space coordinate provided by the embodiment of the present invention.
Fig. 7 is a kind of schematic three dimensional views of depth of accumulated water figure provided by the embodiment of the present invention.
Fig. 8 is a kind of contour map of depth of accumulated water figure provided by the embodiment of the present invention.
Fig. 9 is a kind of schematic diagram of calm water surface ponding provided by the embodiment of the present invention.
Figure 10 is a kind of functional block diagram of the detection device of road depth of accumulated water provided by the embodiment of the present invention.
Icon:
100- depth of accumulated water detection device；
1- electronic equipment；The 11- emission time time of reception obtains module；12- set point D coordinates value determining module； 13- pavement-height value determining module；14- ponding determination type module；15- depth of accumulated water figure obtains module；
2- laser radar；
3- camera；
41- positioning device；42- positions antenna；
5- display device；
6- vehicle.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment only It is a part of the embodiments of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings The component of embodiment can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Inventor further investigation reveals that, common surface gathered water depth detection technology includes following several:
The first, sets up depth of accumulated water scale (i.e. water-level measuring post), this method in the section (such as under bridge opening) for being easy ponding It needs driver manually to read depth of accumulated water value, driver's parking is needed to observe, and be based on the judgement of depth of accumulated water scale It is no to be difficult to realize carry out driver active alarm with safety, this method, and the artificial depth of accumulated water value that reads is easy There is deviation, and then causes vehicle that the flame-out accident of water inflow of the engine occurs in ponding section.
Second, depth of accumulated water detection device (equipment such as laser radar, ultrasonic radar, camera) is mounted on vehicle body, Then the depth of accumulated water value in ponding section is measured in real time using depth of accumulated water detection device, and will test result and feeds back to Driver, but this method needs vehicle sections mostly or fully enters in ponding, when speed is very fast, depth of accumulated water inspection Detection, assessment and the alarm of device are surveyed it is possible that delay, in this case, driver receives alarm and brakes When, vehicle may come into the deeper danger zone of ponding.In addition, this method is only capable of detecting single depth of accumulated water Value, it is difficult to which the ponding of complex road surface is accurately detected.
The third, carries out depth of accumulated water detection before vehicle enters ponding section.Although this method can evade above-mentioned Disadvantage in two methods, but this method still has the low and poor for applicability disadvantage of accuracy.Inventor is through further Discovery is researched and analysed, the common method that depth of accumulated water detection is carried out before vehicle enters ponding section is mostly based on calm water surface Hypothesis carry out, more specifically, when detecting to depth of accumulated water, there is no consider wind and rain or other vehicles for common method Traveling can generate spray or wave in the ponding water surface, not account for the influence that these factors generate the ponding water surface, only yet Depth of accumulated water detection is carried out using the hypothesis of calm water surface, it is difficult to guarantee the accuracy and applicability of detection.
Defect present in the above scheme in the prior art, is that inventor is obtaining after practicing and carefully studying As a result, therefore, the solution that the discovery procedure of the above problem and the hereinafter embodiment of the present invention are proposed regarding to the issue above Scheme all should be the contribution that inventor makes the present invention in process of the present invention.
Based on the studies above, the embodiment of the invention provides the detection method and electronic equipment of a kind of road depth of accumulated water, The ponding type at each set point can be determined according to the D coordinates value and pavement-height value of each set point, it will be extraneous Influence of the factor to the ponding water surface is taken into account, so that it is determined that different ponding type out, and then ensure that depth of accumulated water figure is root It is obtained according to different ponding types, so, it is possible the accuracy and applicability that improve surface gathered water depth detection.
Fig. 1 shows a kind of schematic diagram of depth of accumulated water detection device provided by the embodiment of the present invention.As seen from the figure, should Depth of accumulated water detection device 100 includes electronic equipment 1, laser radar 2, camera 3, positioning device 41, positioning antenna 42 and shows Showing device 5.
Wherein, positioning device 41, positioning antenna 42 and display device 5 are set to vehicle 6, positioning device 41 and positioning antenna 42 for measuring vehicle space coordinate value of the vehicle under world coordinate system, and display device 5 is used for and interior driving Member carries out human-computer interaction.Further, laser radar 2 and camera 3 are also disposed on vehicle 6.
In the embodiment of the present application, to laser radar 2, camera 3, positioning device 41, positioning antenna 42 and display device 5 It is not construed as limiting, as long as the search coverage of guarantee laser radar 2 and camera 3 can cover the road surface ahead region of vehicle 6, at this Apply in embodiment, the road surface ahead region of vehicle 6 is defined as setting regions.
Further, laser radar 2, camera 3, positioning device 41, positioning antenna 42 and display device 5 are set with electronics Standby 1 communication connection, electronic equipment 1 are used to receive the phase that laser radar 2, camera 3, positioning device 41 and positioning antenna 42 acquire Information is closed, then the depth of accumulated water in setting regions is detected according to relevant information, and the ponding for obtaining setting regions is deep Degree figure.Electronic equipment 1 can also be interacted with display device 5, the warning information so that output of display device 5 is paddled, in this way, energy It is enough that road depth of accumulated water is accurately, flexibly detected.
In the embodiment of the present application, the setting position of electronic equipment 1 is not construed as limiting, for example, electronic equipment 1 can be set In the inside of vehicle 6.As long as guaranteeing that electronic equipment 1 can be with laser radar 2, camera 3, positioning device 41, positioning antenna 42 Real time communication is carried out with display device 5.
On the basis of the above, Fig. 2 shows a kind of detection methods of road depth of accumulated water provided by the embodiment of the present invention Flow chart.Method and step defined in the related process of the method is applied to the electronic equipment 1 in Fig. 1, below will be to Fig. 2 Shown in detailed process be described in detail:
S21, for each set point, is obtained when laser radar is scanned multiple set points in setting regions Laser radar is to the emission time of set point transmitting first laser beam, when obtaining the reception of laser radar reception second laser beam It carves.
In the embodiment of the present application, set point is that first laser beam is made to generate point corresponding to irreflexive object.
In the embodiment of the present application, laser radar 2 can be multi-thread several laser radars.When laser radar 2 is to setting regions When interior multiple set points are scanned, vehicle 6 may be at halted state, also may be at driving status, does not limit herein It is fixed.
In the specific implementation process, the speed of first laser beam and second laser beam is the light velocity, and second laser beam is first Reflection laser beam of the laser beam at set point.It is appreciated that road surface whether the ponding type on ponding and road surface will affect it is sharp The reflection path of light beam is based on this, and the embodiment of the present application, can be with according to the corresponding emission time of each set point and the time of reception Determine D coordinates value of each set point under world coordinate system, the determination for subsequent depth of accumulated water figure provides accurate data Basis.
S22 determines each set point in world coordinates according to the corresponding emission time of each set point and the time of reception D coordinates value under system.
In the specific implementation process, D coordinates value of each set point under world coordinate system can be in the following manner It determines:
According to the corresponding emission time of each set point and the time of reception, determine each set point in the vehicle of vehicle 6 Relative spatial co-ordinates value under coordinate system；
Obtain vehicle space coordinate value and vehicle attitude of the vehicle 6 under world coordinate system when laser radar 2 is scanned Parameter；
According to the relative spatial co-ordinates value of vehicle space coordinate value, vehicle attitude parameter and each set point, determine each D coordinates value of the set point under world coordinate system.
More specifically, relative spatial co-ordinates value of each set point under the vehicle axis system of vehicle 6 can by with Under type determines:
Firstly, according to the emission time of each set point and the time of reception, determine each set point and laser radar 2 it Between distance L (in the embodiment of the present application, can by the distance between each set point and laser radar 2 be used as each setting The distance between point and vehicle 6).Secondly, determining each set point according to the radiating laser beams angle of distance L and laser radar 2 Relative spatial co-ordinates value under the vehicle axis system of vehicle 6.
Wherein, the distance between each set point and laser radar 2 L can specifically be determined in the following manner:
Fig. 3, Fig. 4 and Fig. 5 are please referred to, the schematic diagram being scanned for laser radar 2 to setting regions.In Fig. 3, The laser beam emitting point of laser radar 2 is A, and a set point in setting regions is that (point B is to generate first laser beam to overflow to B Point corresponding to the object of reflection).In the embodiment of the present application, the speed of first laser speed and second laser beam is the light velocity.
Please refer to Fig. 3, if setting regions does not have ponding (point B does not have ponding), laser radar 2 emit from point A One laser beam (solid arrow in Fig. 3) forms diffusing reflection at point B, laser beam (the dotted line arrow in Fig. 3 being reflected back at point A Head) it is second laser beam, in such a case, it is possible to be determined a little according to the time that first laser beam and second laser beam are propagated The distance between A and point B L1.Specifically, for point B, the emission time that laser radar 2 emits first laser beam is t1, is received The time of reception of second laser beam is t2, then propagation time of the laser beam between point A and point B can be t2-t1, further Ground, light velocity v.It is possible thereby to determine L1=v (t2-t1).
Please refer to Fig. 4, if the ponding water surface of setting regions be it is tranquil, laser radar 2 emit from point A first swash Light beam (solid arrow in Fig. 4) forms mirror-reflection at point C, generates the laser beam directive sky or ponding water of mirror-reflection Object B above face generates diffusing reflection at object B, generates irreflexive laser beam and mirror-reflection occurs again through point C and penetrates To point A, in such a case, it is possible to which the time propagated according to first laser beam and second laser beam and object B are in ponding water Inverted image B ' in face determines the distance between point A and point B ' L2.Since the determination principle of L2 and the determination principle of L1 are similar, Therefore do not illustrate more herein.
Fig. 5 is please referred to, if the ponding water surface of setting regions is non-tranquil (there are spray or ponding are muddy), laser Radar 2 forms diffusing reflection at point B from the first laser beam (solid arrow in Fig. 5) that point A emits, and is reflected back swashing at point A Light beam (dotted arrow in Fig. 5) is second laser beam, in such a case, it is possible to according to first laser beam and second laser beam The time of propagation determines the distance between point A and point B L3.Since the determination principle of L3 and the determination principle of L1 are similar, Do not illustrate more herein.
It is appreciated that being capable of determining that each set point according to the corresponding emission time of each set point and the time of reception The distance between laser radar 2 (vehicle 6).In Fig. 3, set point can be point B, and specifically, point B is to make first laser beam Generate irreflexive point.
Further, laser radar 2 can emit laser beam towards different directions, therefore, according to distance L and laser radar 2 Radiating laser beams angle, determine relative spatial co-ordinates value of each set point under the vehicle axis system of vehicle 6, specifically can be with It is accomplished by the following way:
Fig. 6 is please referred to, as seen from the figure, laser radar 2 (can be understood as vehicle 6) is scanned point B, and electronics is set Standby 1 defines the distance between laser radar 2 and point B L based on the corresponding emission time of point B and the time of reception.
Please continue to refer to Fig. 6, the pitch angle between first laser beam (shoot laser) and horizontal plane is θ, first laser beam (shoot laser) and the vertical angle in the headstock direction of vehicle 6 areMore specifically, θ is first laser beam in XOZ plane The angle of projection and X-axis,It is first laser beam in the projection of XOY plane and the angle of X-axis.
Further, three dimensional space coordinate of the defining point B under the vehicle axis system of vehicle 6 is (xB,yB,zB), then (xB, yB,zB) can determine in the following manner:
zB=Lsin θ
Further, obtain laser radar 2 when being scanned vehicle space coordinate value of the vehicle 6 under world coordinate system and Vehicle attitude parameter can specifically be accomplished by the following way:
In the embodiment of the present application, positioning device 41 and positioning antenna 42 cooperate, and by positioning device 41 and can determine Position antenna 42 is interpreted as high-precision GPS, and high-precision GPS can measure when laser radar 2 is scanned vehicle 6 in world coordinates Vehicle space coordinate (X under systemV,YV,ZV) and vehicle attitude parameter (Ψ, Θ, Φ).Wherein, Ψ is vehicle roll angle, Θ is vehicle pitch angle, and Φ is vehicle headstock direction.
Further, according to the relative spatial co-ordinates value of vehicle space coordinate value, vehicle attitude parameter and each set point, It determines D coordinates value of each set point under world coordinate system, can specifically be accomplished by the following way:
For example, D coordinates value of the defining point B under world coordinate system is (XB,YB,ZB)。
(XB,YB,ZB) can specifically determine in the following manner:
In the embodiment of the present application, T (Ψ, Θ, Φ) is coordinate system spin matrix, can be indicated are as follows:
It is appreciated that laser radar 2, in scanning, multiple laser emitters of laser radar 2 have the different angles θ, more A laser emitter can emit first laser beam to different directions, and further, laser radar 2 can be by way of rotation ChangeAngle, and then realize and formula measurement is scanned to setting regions in a short time, it is then based on the above method, determines to set Determine the D coordinates value of multiple set points in region.
S23 determines pavement-height value of each set point under world coordinate system according to the electronic map prestored.
In the embodiment of the present application, the high-precision electronic map of setting regions, electronic equipment 1 are prestored in electronic equipment 1 Pavement-height value of each set point under world coordinate system can be determined according to high-precision electronic map.For example, set point The D coordinates value of (point B) under world coordinate system is (XB,YB,ZB), planar two dimensional coordinate of the point B under world coordinate system is (XB,YB), the planar two dimensional coordinate (XB,YB) corresponding pavement-height value is Z' in electronic mapB, wherein Z'BIt is understood that For the coordinate value of Z-direction (vertical direction).
S24 determines the ponding class at each set point according to the D coordinates value of each set point and pavement-height value Type.
In the specific implementation process, according to the D coordinates value of each set point and pavement-height value, each setting is determined Ponding type at point, can be accomplished by the following way:
For each set point, the setting coordinate value in the D coordinates value of the set point is obtained, wherein setting coordinate value For the coordinate value of Z-direction；
Determine the difference of the setting coordinate value of the set point and the pavement-height value of the set point；
The ponding type at the set point is determined according to the difference.
For example, the D coordinates value of point B is (X by taking point B as an exampleB,YB,ZB), further, point B set coordinate value as ZB, the pavement-height value of point B is Z'B。
More specifically, the ponding type at the set point is determined according to the difference, specifically includes following three kinds of situations:
Case1 determines that the ponding type at the set point is that there is no products if the absolute value of difference is less than given threshold Water.
For example, if | ZB-Z'B| < Zthd, then determine that planar two dimensional coordinate is (XB,YB) road surface at there is no ponding, specifically Ground, no ponding (first laser beam is made to generate irreflexive object road surface at point B) at decision-point B.
In the embodiment of the present application, ZthdFor given threshold, according to the precision of laser radar 2, positioning device 41 and can determine The precision and measurement data noise of position antenna 42 are adjusted, and are not limited thereto.
Case2 determines the ponding type at the set point for non-calm water surface product if difference is more than or equal to given threshold Water.
For example, if ZB-Z'B>=Zthd, then determine that planar two dimensional coordinate is (XB,YB) road surface at there are non-calm water surfaces Ponding, specifically, at decision-point B there are non-calm water surface products (first laser beam to be made to generate irreflexive object road at point B Ponding on face).
Case3 determines that the ponding type at the set point is easy water if difference is less than or equal to the opposite number of given threshold Area water.
If the ponding type being appreciated that at set point is calm water surface ponding, first laser beam is made to generate diffusing reflection Object be the object that inverted image can be formed in the water surface.For example, the object can be branch and moon etc., it is also possible to road Lamp, isolation strip, traffic lights, road indicator and taillight of front truck etc., can also be the building of distant place.Fig. 4 is please referred to, flat In the case where standing level ponding, the setting coordinate value Z of object B 'BMuch larger than Z'B, based on above-mentioned analysis, if ZB-Z'B<=- Zthd, then determine that planar two dimensional coordinate is (XB,YB) road surface at there are calm water surface ponding.
It is appreciated that in the embodiment of the present application, before the determination for carrying out depth of accumulated water figure, can determine setting area first The ponding type of each set point in domain, then determines depth of accumulated water figure further according to different ponding types, compared to traditional It is only the depth of accumulated water measurement method assumed with calm water surface ponding, the embodiment of the present application is by water surface perturbation caused by extraneous factor It is taken into account with fluctuation, different ponding types has accurately been determined based on optical principle, so, it is possible the ponding for guaranteeing to determine The accuracy of depth map, meanwhile, the method determined ponding type can also be suitable for different occasions, such as wind and rain day The occasion of gas, ponding road surface improve applicability there are occasion of other driving vehicles etc..
S25 obtains the depth of accumulated water figure of setting regions according to ponding type.
It should be appreciated that the determination method of the corresponding depth of accumulated water figure of different ponding types is different, conventional method is only Calm water surface is analyzed, it is difficult to ensure accuracy, it is also difficult to poor for applicability applied to the occasion of some non-calm water surfaces. And the embodiment of the present application can obtain the depth of accumulated water figure of setting regions based on different ponding types, to guarantee depth of accumulated water The accuracy of figure, additionally it is possible to this method for determining the depth of accumulated water figure of setting regions is applied to multiple occasions, improve this The applicability of method.
In the embodiment of the present application, according to ponding type, obtain the depth of accumulated water figure of setting regions, can specifically include with Lower two kinds of situations:
Case1, ponding type are non-calm water surface ponding.
When ponding type is non-calm water surface ponding, the depth of accumulated water figure of setting regions is determined especially by following manner:
Obtain the D coordinates value for each set point that ponding type in setting regions is non-calm water surface ponding；
All D coordinates values got are fitted, the first ponding plane is obtained；
According to electronic map, the road curved surface of setting regions is determined；
According to road curved surface and the first ponding plane, the depth of accumulated water figure of setting regions is obtained, wherein depth of accumulated water figure is Contour map.
Fig. 5 is please referred to, when the ponding type of the ponding water surface is non-calm water surface ponding, what laser radar 2 emitted First laser beam can generate diffusing reflection in the ponding water surface, and more specifically, each set point of the ponding water surface makes first Laser beam generates diffusing reflection, and therefore, electronic equipment can be based on the corresponding emission time of each set point and the time of reception, determines The D coordinates value of each set point out.
In the embodiment of the present application, the quantity of set point can be n, wherein n is positive integer.It is appreciated that according to upper Method is stated, is capable of determining that the D coordinates value (X of i-th of set point of the ponding water surfacei,Yi,Zi), wherein i is less than or equal to n's Positive integer.
It is appreciated that since there are sprays or wave for non-calm water surface, using single set point as determining first ponding The water surface will lead to biggish error, and due to the flowability of gravity and liquid, although the first ponding water surface has spray or wave Wave, but be generally in a horizontal plane, it therefore,, will be multiple in application embodiment in order to accurately determine the first ponding water surface D coordinates value is fitted, and then obtains the first ponding water surface.
Specifically, least square method can be used to be fitted to obtain the first ponding water surface multiple D coordinates values. In the embodiment of the present application, the plane equation of the first ponding water surface can be with are as follows:
Zj=AXj+B·Yj+C
Wherein, (Xj,Yj,Zj) be the ponding water surface on some set point D coordinates value under world coordinate system, j be less than Positive integer equal to n.
Based on least square method, plane equation coefficient A, B and C can be determined in the following manner:
Wherein,In the embodiment of the present application, subscript j expression least square meter The set point of calculation is further to be judged as non-calm water surface ponding with the set point of least-squares calculation needs Set point.
It is appreciated that under normal circumstances, if the ponding type of the section sets point in setting regions is non-calm water surface Ponding, it may be considered that the ponding type of setting regions is non-planar ponding, theoretically there is no the non-calm water surface products in part The case where water and part calm water surface ponding.
Further, after determining the first ponding water surface using the above method, according to the high-precision stored in electronic equipment 1 Electronic map can determine the road curved surface of setting regions, more specifically, can determine planar two dimensional coordinate (Xj,Yj) The pavement-height value at place is Zm=fm(Xj,Yj)。
Wherein, m is the positive integer less than or equal to n, fm(x, y) is the pavement-height value inquired in electronic map, if Pinpoint (Xj,Yj,Zj) height value ZjWith the pavement-height value Z at set pointmDifference Zj-ZmFor planar two dimensional coordinate (Xj,Yj) at Depth of accumulated water value.
Fig. 7 is please referred to, the top plane in Fig. 7 is the first ponding water surface Zj=AXj+B·Yj+ C, lower, planar For road curved surface.Further, it will not be covered by ponding in road curved surface higher than the part of the first ponding water surface, this part can be with It is interpreted as no ponding road surface, the part that the first ponding water surface is lower than in road curved surface can be understood as ponding road surface, further, It can be with the first ponding water surface, road curved surface and (X according to figure 7j,Yj) at depth of accumulated water value determine depth of accumulated water Figure.
As shown in figure 8, in the embodiment of the present application, depth of accumulated water figure can be contour map, contour is used in Fig. 8 Mode indicates the depth of accumulated water situation of road surface each section.For example, the gray shade in Fig. 8 is the contour that depth of accumulated water is 0, again For example, the maximum depth of accumulated water in Fig. 8 is 0.6m.
It is appreciated that depth of accumulated water figure can provide decision-making foundation for the safety traffic of vehicle 6, it is ensured that vehicle 6 is in ponding The safety traffic in section.
Case2, ponding type are calm water surface ponding.
When ponding type is calm water surface ponding, the depth of accumulated water figure of setting regions is determined especially by following manner:
Obtain multiple images.
Wherein, every image is to be set to the camera 3 of vehicle 6 to take, and includes the first image district in every image Domain and the second image-region, the first image-region are the surrounding enviroment image of setting regions, and the second image-region is setting regions Image.
It further, include multiple objects D in the first image-regionk, include multiple inverted image D in the second image-regionk', the Each inverted image D in two image-regionsk' corresponding to an object D in the first image-regionk.Wherein, k is positive integer.
For every image, from every in the first image-region for determining the image in the second image-region of the image A object DkInverted image Dk’。
Obtain each object D in the first image-region of the imagekFirst object three-dimensional under world coordinate system is sat Scale value obtains each object D in the second image-region of the imagekInverted image Dk' the second target three under world coordinate system Dimensional coordinate values；
For each object D in the imagek, according to object DkFirst object D coordinates value and object Dk Inverted image Dk' the second target D coordinates value, it is determining with object DkAnd object DkInverted image Dk' corresponding to the water surface Point coordinate value.Wherein, water surface point is object DkWith object DkInverted image Dk' line and the water surface intersection point.
Water surface point coordinate value in all images is fitted, the second ponding plane is obtained, according to electronic map, is determined The road curved surface of the setting regions out obtains the depth of accumulated water figure of setting regions according to road curved surface and the second ponding plane, Wherein, depth of accumulated water figure is contour map.
It is appreciated that when the ponding water surface of setting regions is calm water surface ponding, as shown in figure 4, laser radar 2 emits First laser beam mirror-reflection occurs in the water surface, electronic equipment 1 can only determine the inverted image B ' in laser radar 2 and water at this time Distance, can not determine the distance between laser radar 2 and the ponding water surface, and then can not determine the height of the ponding water surface, because This can carry out characteristic matching based on camera 3 when the ponding water surface of setting regions is calm water surface ponding, so that it is determined that Inverted image and object corresponding with the inverted image in water outlet, and the D coordinates value based on the inverted image in water under world coordinate system And D coordinates value of the corresponding object of the inverted image under world coordinate system measures the height of the ponding water surface.
More specifically, Fig. 9 is please referred to, when the ponding water surface is calm water surface ponding, since first laser beam exists Mirror-reflection occurs for the ponding water surface, object D above the water surfacekInverted image D ' can be generated in waterk, further, object DkWith ponding water The distance and inverted image D ' in facekWith being equidistant for the ponding water surface.It therefore, can be according to above-mentioned principle, using camera 3 to object DkWith inverted image D 'kIt is identified and is matched, and object D is determined based on electronic equipment 1 respectivelykWith inverted image D 'kIn world coordinate system Under first object D coordinates value and the second target D coordinates value, so that it is determined that with object DkAnd inverted image D 'kCorresponding Water surface point coordinate value.In the embodiment of the present application, water surface point P is object DkWith inverted image D 'kLine and the water surface intersection point P.
Please continue to refer to Fig. 9, the shooting visual field of camera 3 covers the first image-region (image of setting regions) and Two image-regions (the surrounding enviroment image of setting regions), thus camera 3 can be shot when laser radar 2 is scanned it is more Image is opened, further, electronic equipment 1 can obtain multiple images that camera 3 takes.
In the embodiment of the present application, multiple images are that camera 3 is shot under different shooting angles, wherein every figure It include the first image-region and the second image-region as in.
It include multiple objects, the second figure of every image in the first image-region of every image for every image As including multiple inverted images in region.For convenience, it is assumed that including object D in the first image-region of certain image1、D2And D3、 It include inverted image D ' in second image-region1、D’2And D '3。
Further, with object D1For, determine object D1Inverted image D '1, it is realized especially by following manner:
Identify object D1First eigenvector, determine object D1The first relative coordinate values (x relative to vehicle 61, y1,z1).In the embodiment of the present application, object D1First eigenvector can be λ (x1,y1,z1), specifically, λ (x1,y1,z1) Characterize object D1Size, profile, texture and light and shade/color change in the first image-region etc., for example, scale can be used Invariant features transform method (Scale-invariant feature transform, SIFT) is extracted from the first image-region Extract λ (x1,y1,z1)。
Further, three inverted image D ' are identified1、D’2And D '3Second feature vector λ (x'1,y'1,z'1)、λ(x'2, y'2,z'2) and λ (x'3,y'3,z'3), determine three inverted image D '1、D’2And D '3The second relative coordinate values relative to vehicle 6 (x'1,y'1,z'1)、(x'2,y'2,z'2) and (x'3,y'3,z'3)。
Further, according to first eigenvector, the first relative coordinate values, all second feature vector sums identified All second relative coordinate values got, determine object D1Inverted image D '1。
In the embodiment of the present application, determination can be with object D1Inverted image D '1Determined from two dimensions:
1) according to the first relative coordinate values (x1,y1,z1) and all second relative coordinate values (x'1,y'1,z'1)、(x'2,y '2,z'2) and (x'3,y'3,z'3), it determines and object D1Between the smallest inverted image of horizontal distance.
For example, if object DkThe first relative coordinate values and inverted image D 'lThe second relative coordinate values meet formulaIt can then determine object DkWith inverted image D 'lBetween horizontal distance meet preset condition, Wherein, l is positive integer.
In another example ifThen determine object D1With inverted image D '1Between horizontal distance it is full Sufficient preset condition.
For another example ifThen determine object D1With inverted image D '2Between horizontal distance it is full Sufficient preset condition.
It is appreciated that due to object D1With inverted image D '1Between horizontal distance and object D1With inverted image D '2Between level Distance is all satisfied above-mentioned preset condition, in order to accurately determine object D1Inverted image, it is also necessary to further judged.Specifically, From inverted image D '1With inverted image D '2In determine and object D1The nearest inverted image of horizontal distance.In another example determining inverted image D '1With Object D1Horizontal distance it is nearest.
2) according to first eigenvector λ (x1,y1,z1) and all second feature vector λ (x'1,y'1,z'1)、λ(x'1,y'1, z'1)、λ(x'2,y'2,z'2) and λ (x'3,y'3,z'3), it determines and object D1Between characteristic value the smallest inverted image of difference.
For example, if object DkFirst eigenvector and inverted image D 'lSecond feature vector meet formula | λ (xk,yk,zk)- λ(x'l,y'l,z'l) | < Fthd, then object D can be determinedkWith inverted image D 'lBetween characteristic value difference meet impose a condition.
In another example if | λ (x1,y1,z1)-λ(x'1,y'1,z'1) | < Fthd, then determine object D1With inverted image D '1Between spy Value indicative difference, which meets, to impose a condition.
For another example if | λ (x1,y1,z1)-λ(x'2,y'2,z'2) | < Fthd, then determine object D1With inverted image D '2Between spy Value indicative difference, which meets, to impose a condition.
It is appreciated that due to object D1With inverted image D '1Between characteristic value difference and object D1With inverted image D '2Between Characteristic value difference is all satisfied above-mentioned setting condition, in order to accurately determine object D1Inverted image, it is also necessary to further judged. Specifically, from inverted image D '1With inverted image D '2In determine and object D1Characteristic value the smallest inverted image of difference.In another example determining Inverted image D '1With object D1Characteristic value difference it is minimum.
Further, if with object D1The nearest inverted image of horizontal distance and with object D1Between characteristic value difference it is the smallest Inverted image is same inverted image, which is determined as object D1Inverted image, therefore, it is determined that object D1With inverted image D '1Successful match.Example Such as, with object D1The nearest inverted image of horizontal distance be inverted image D '1, with object D1Between characteristic value the smallest inverted image of difference be fall Shadow D '1, hence, it can be determined that inverted image D ' out1For object D1Inverted image, in this way, can accurately determine object by secondary judgement Body D1Inverted image in water, similarly, object D2With object D3Inverted image in water can also be determined by the above method.
Optionally, if with object D1The nearest inverted image D ' of horizontal distance and with object D1Between characteristic value difference it is the smallest Inverted image D " is not same inverted image, then can arbitrarily choose one from inverted image D ' and inverted image D " and be used as object D1Inverted image.Due to The inverted image of selection otherwise with object D1Horizontal distance recently or with object D1Between characteristic value difference it is minimum, therefore, be based on Object D1Water surface point coordinate value can be accurately determined with the inverted image of selection.
In the embodiment of the present application, DthdAnd FthdRespectively horizontal position decision threshold and characteristics of image decision threshold, Dthd And FthdValue can be adjusted according to camera imaging quality and image recognition algorithm, be not limited thereto.
Further, it is determined that out after the inverted image of each object and the object in water, it can be according to each object Second target D coordinates value of the inverted image of first object D coordinates value and the object determines the object and the object The point coordinate value of the water surface corresponding to inverted image.
Specifically, first object D coordinates value can be determined according to the first relative coordinate values of each object, according to every Second relative coordinate values of a inverted image determine the second target D coordinates value.Due to determining first object D coordinates value and second The method of target D coordinates value is similar with method shown in S22, therefore does not illustrate more herein.
For example, with object D1With inverted image D '1For:
Firstly, according to object D1The first relative coordinate values (x1,y1,z1) determine object D1First object D coordinates value (X1,Y1,Z1), according to inverted image D '1The second relative coordinate values (x'1,y'1,z'1) determine inverted image D '1The second target three-dimensional coordinate It is worth (X'1,Y'1,Z'1)。
Secondly, according to first object D coordinates value (X1,Y1,Z1) and the second target D coordinates value (X'1,Y'1,Z'1) Determining and object D1With inverted image D '1Corresponding water surface point coordinate value W1, it will be understood that due to object D1Inverted image D '1It is object D1In Inverted image in water, therefore, the second target D coordinates value can be understood as (X1,Y1,Z'1), thus, with object D1With fall Shadow D '1Corresponding water surface point coordinate value W1Can be
It is appreciated that can determine all water surface point coordinates of the ponding water surface from all images by the above method Value Wp.Wherein, p is the positive integer less than or equal to H, and H is the quantity of the object (inverted image) of successful match in multiple images.For example, If the object of successful match is D in multiple images1、D2And D3, then H=3.
It is possible to further based on the plane equation in Case1 to all water surface point coordinate value W in all imagespInto Row fitting, obtains the second ponding water surface, to determine depth of accumulated water figure according to method similar in Case1.
Optionally, in some cases, the area of the ponding water surface may be smaller, and in this case, object is in water Inverted image can be solely a part of object, therefore, in the specific implementation, can be according to the real area acquiring size of the ponding water surface The inverted image in object and the second image-region in first image-region is handled and is analyzed.Due to the reality according to the ponding water surface The method that the inverted image in object and the second image-region in interphase product the first image-region of acquiring size is handled and analyzed It is similar with Case2 disclosure of that in S25, therefore do not illustrate more herein.
Optionally, after determining depth of accumulated water figure, electronic equipment 1 can also be according to depth of accumulated water figure and vehicle 6 Default fording depth value determines that safety of the vehicle 6 in setting regions is paddled region and non-security region of paddling, and judges vehicle Whether 6 meet safety traffic condition in motion.
Specifically, the depth of accumulated water figure that electronic equipment 1 is obtained according to the default fording depth value and S25 of vehicle 6, determines vehicle 6 safety in the setting regions is paddled region and non-security region of paddling.Wherein, the ponding paddled safely in region is deep Angle value is less than or equal to default fording depth value, and the depth of accumulated water value in non-security region of paddling is greater than default fording depth value, asks In conjunction with refering to Fig. 8, for example, if default fording depth value is 0.3m, the meshing in Fig. 8 is that safety is paddled region, can be with Understand, the depth of accumulated water value of meshing is less than 0.3m.
Further, it is paddled region and non-security region of paddling according to safety, judges whether vehicle 6 meets peace in motion Full driving conditions export warning information of paddling if vehicle 6 is unsatisfactory for safety traffic condition in motion.
It in the embodiment of the present application, can if electronic equipment 1 determines vehicle 6 and is unsatisfactory for safety traffic condition in motion To show by display device 5 (human-computer interaction interface) warning information that will paddle, there is risk of paddling to alert driver, In addition, electronic equipment 1 can also export warning information of paddling by other means, such as is alerted and driven in the form of sound-light alarm Member.
In the specific implementation process, judging whether vehicle 6 meets safety traffic condition in motion can be by following several Kind of mode realizes, certainly, in the specific implementation process, however it is not limited to following methods:
The first determines that vehicle 6 is unsatisfactory in motion if vehicle 6 is not at safety in motion and paddles in region Safety traffic condition.
Second, if determining that vehicle 6 can not stop in safety region of paddling according to the speed in motion of vehicle 6 and direction Vehicle determines that vehicle 6 is unsatisfactory for safety traffic condition in motion.
The third, if determining that vehicle 6 can not avoid the non-security area that paddles according to the speed in motion of vehicle 6 and direction Domain determines that vehicle is unsatisfactory for safety traffic condition in motion.
In addition, electronic equipment 1 can also paddle according to safety, region and non-security region of paddling are that vehicle 6 cooks up safety Vehicle line, if vehicle 6 determines that vehicle is unsatisfactory for safety traffic condition not according to safety traffic link travel.
On the basis of the above, as shown in Figure 10, the embodiment of the invention provides a kind of electronic equipment 1, comprising: emission time It is true that the time of reception obtains module 11, set point D coordinates value determining module 12, pavement-height value determining module 13, ponding type Cover half block 14 and depth of accumulated water figure obtain module 15.
The emission time time of reception obtains module 11, for setting when the laser radar to multiple in the setting regions When fixed point is scanned, for each set point, transmitting of the laser radar to set point transmitting first laser beam is obtained Moment obtains the time of reception that the laser radar receives second laser beam, and the second laser beam is the first laser beam Reflection laser beam at the set point；The set point is to generate the first laser beam corresponding to irreflexive object Point.
Set point D coordinates value determining module 12, for according to the corresponding emission time of each set point and reception Moment determines D coordinates value of each set point under world coordinate system.
Pavement-height value determining module 13, for determining each set point in institute according to the electronic map prestored State the pavement-height value under world coordinate system.
Ponding determination type module 14, for the D coordinates value and pavement-height value according to each set point, really Ponding type at fixed each set point.
Depth of accumulated water figure obtains module 15, for obtaining the depth of accumulated water of the setting regions according to the ponding type Figure.
To sum up, a kind of detection method and electronic equipment of road depth of accumulated water, Neng Gou provided by the embodiment of the present invention When laser radar is scanned multiple set points in setting regions, obtains laser radar and swash to each set point transmitting first The emission time of light beam simultaneously obtains the time of reception that laser radar receives second laser beam, according to the corresponding transmitting of each set point Moment and the time of reception determine D coordinates value of each set point under world coordinate system, and then basis prestores electronically Figure, determines pavement-height value of each set point under world coordinate system, and then according to the D coordinates value of each set point With pavement-height value, the ponding type at each set point is determined, so that the ponding for obtaining setting regions is deep according to ponding type Degree figure.Wherein, according to the D coordinates value of each set point and pavement-height value, the ponding type at each set point is determined, Can the influence by extraneous factor to the ponding water surface take into account, so that it is determined that different ponding type out, and then ensure ponding Depth map is obtained according to different ponding types, be so, it is possible the accuracy for improving surface gathered water depth detection and is applicable in Property.
Further, when ponding type is non-calm water surface ponding, the three-dimensional coordinate of multiple set points can be carried out Fitting so, it is possible accurately to obtain the first ponding water surface, avoid according only to single set point to obtain the first ponding water surface Determine the first ponding water surface bring error.
It further, can be to the object and inverted image progress feature in image when ponding type is calm water surface ponding Matching, thus according in image object and inverted image determine the water surface point coordinate value of calm water surface, so that it is determined that easy water area The second ponding water surface in the case of water.It solves since first laser beam can not directly really in calm water surface generation mirror-reflection The problem of allocating the water surface point coordinate value of standing level.
Further, setting regions can be determined according to the first ponding water surface, the second ponding water surface and road curved surface Depth of accumulated water figure, and the depth of accumulated water figure is contour map, therefore can also be paddled according to the contour map and the default of vehicle Depth value determines that the safety in setting regions is paddled region and non-security region of paddling, and is paddled region and Fei An based on safety Whether regional determination vehicle of paddling entirely meets safety traffic condition in motion, if vehicle is unsatisfactory for the security row in motion Condition is sailed, warning information of paddling is exported.It so, it is possible to guarantee vehicle in the driving safety in ponding section.
Further, display device can also show depth of accumulated water figure and warning information of paddling, so that driver The road conditions that front section can be obtained in time, avoid in ponding sections of road bring accident.
Further, can also be paddled according to safety region and it is non-security paddle region be vehicle cook up safety traffic line Road, in this way, ensure that safety of the vehicle in ponding sections of road.
In several embodiments provided by the embodiment of the present invention, it should be understood that disclosed device and method, it can also To realize by another way.Device and method embodiment described above is only schematical, for example, in attached drawing Flow chart and block diagram show that the devices of multiple embodiments according to the present invention, method and computer program product are able to achieve Architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a program A part of section or code, a part of the module, section or code include that one or more is patrolled for realizing defined Collect the executable instruction of function.It should also be noted that in some implementations as replacement, function marked in the box It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, emulation simulator 11 or the network equipment etc.) execute all or part of each embodiment the method for the present invention Step.And storage medium above-mentioned include: USB flash disk, it is mobile hard disk, read-only memory (ROM, Read-Only Memory), random Access various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic or disk Matter.It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to nonexcludability Include so that include a series of elements process, method, article or equipment not only include those elements, but also Including other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want There is also other identical elements in the process, method, article or equipment of element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of detection method of road depth of accumulated water, which is characterized in that set applied to the electronics that laser radar communicates to connect Standby, the laser radar is set to vehicle, and the road surface ahead region of the vehicle is defined as setting regions, which comprises
When the laser radar is scanned multiple set points in the setting regions, for each set point, obtain The laser radar obtains the laser radar and receives second laser beam to the emission time of set point transmitting first laser beam The time of reception, the second laser beam is reflection laser beam of the first laser beam at the set point；The set point To make the first laser beam generate point corresponding to irreflexive object；
According to the corresponding emission time of each set point and the time of reception, determine each set point in world coordinates D coordinates value under system；
According to the electronic map prestored, pavement-height value of each set point under the world coordinate system is determined；
According to the D coordinates value and pavement-height value of each set point, the ponding class at each set point is determined Type；
According to the ponding type, the depth of accumulated water figure of the setting regions is obtained.
2. detection method according to claim 1, which is characterized in that the three-dimensional coordinate according to each set point Value and pavement-height value, determine the ponding type at each set point, comprising:
For each set point, the setting coordinate value in the D coordinates value of the set point is obtained；Wherein, the setting is sat Scale value is the coordinate value of Z-direction；
Determine the difference of the setting coordinate value of the set point and the pavement-height value of the set point；
According to the difference, the ponding type at the set point is determined.
3. detection method according to claim 2, which is characterized in that it is described according to the difference, it determines at the set point Ponding type, comprising:
If the absolute value of the difference is less than given threshold, determine that the ponding type at the set point is that there is no ponding；
If the difference is more than or equal to the given threshold, determine that the ponding type at the set point is non-calm water surface ponding；
If the difference is less than or equal to the opposite number of the given threshold, determine that the ponding type at the set point is calm water surface Ponding.
4. detection method according to claim 3, which is characterized in that it is described according to the ponding type, obtain described set Determine the depth of accumulated water figure in region, comprising:
Obtain the D coordinates value for each set point that ponding type in the setting regions is the non-calm water surface ponding；
All D coordinates values got are fitted, the first ponding plane is obtained；
According to the electronic map, the road curved surface of the setting regions is determined；
According to the road curved surface and the first ponding plane, the depth of accumulated water figure of the setting regions is obtained, wherein described Depth of accumulated water figure is contour map.
5. detection method according to claim 3, which is characterized in that it is described according to the ponding type, obtain described set Determine the depth of accumulated water figure in region, comprising:
If the ponding type of all set points in the setting regions is calm water surface ponding,
Obtain multiple images；Wherein, every image is to be set to the camera of the vehicle to take, in every image Including the first image-region and the second image-region；The first image region is the surrounding enviroment image of the setting regions, Second image-region is the image of the setting regions, includes multiple objects in the first image region, described second It include multiple inverted images in image-region, each inverted image in second image-region corresponds in the first image region One object；
Each object for every image, from the first image-region for determining the image in the second image-region of the image The inverted image of body；
Obtain first object three-dimensional coordinate of each object in the first image-region of the image under the world coordinate system Value, obtains second target three-dimensional coordinate of each inverted image in the second image-region of the image under the world coordinate system Value；
For each object in the image, according to the of the inverted image of the first object D coordinates value of the object and the object Water surface point coordinate value corresponding to the inverted image of two target D coordinates values, the determining and object and the object；Wherein, water surface point For the object and the line of the inverted image of the object and the intersection point of the water surface；
Water surface point coordinate value in all images is fitted, the second ponding plane is obtained；
According to the electronic map, the road curved surface of the setting regions is determined；
According to the road curved surface and the second ponding plane, the depth of accumulated water figure of the setting regions is obtained, wherein described Depth of accumulated water figure is contour map.
6. detection method according to claim 5, which is characterized in that it is described to be directed to every image, from the second of the image The inverted image of each object in the first image-region of the image is determined in image-region, comprising:
For each object in the first image-region of the image, the first eigenvector of the object is identified, obtain the object First relative coordinate values of the body relative to the vehicle；
It identifies the second feature vector of each inverted image in the second image-region of the image, it is opposite to obtain each inverted image In the second relative coordinate values of the vehicle；
It is got according to the first eigenvector, first relative coordinate values, all second feature vector sums identified All second relative coordinate values, determine the inverted image of the object.
7. detection method according to claim 6, which is characterized in that it is described according to the first eigenvector, described All second relative coordinate values that one relative coordinate values, all second feature vector sums determined are got, determine the object The inverted image of body, comprising:
According to first relative coordinate values and all second relative coordinate values, determine and horizontal distance between the object The smallest inverted image；
According to the first eigenvector and all second feature vectors, the difference of the characteristic value between the object is determined most Small inverted image；
If between the object the smallest inverted image of horizontal distance and between the object characteristic value the smallest inverted image of difference be it is same Inverted image, will between the object the smallest inverted image of the horizontal distance or the smallest inverted image of difference of characteristic value is determined as between the object The inverted image of the object.
8. detection method according to claim 5, which is characterized in that the method also includes:
According to the default fording depth value of the depth of accumulated water figure and the vehicle, determine the vehicle in the setting regions Safety paddle region and non-security region of paddling；Wherein, the safety depth of accumulated water value in region of paddling is less than or equal to institute Default fording depth value is stated, the depth of accumulated water value in the non-security region of paddling is greater than the default fording depth value；
It is paddled region and the non-security region of paddling according to the safety, judges whether the vehicle meets safety in motion Driving conditions；
If the vehicle is unsatisfactory for the safety traffic condition in motion, warning information of paddling is exported.
9. detection method according to claim 8, which is characterized in that described to be paddled region and described non-according to the safety Safety is paddled region, judges whether the vehicle meets safety traffic condition in motion, comprising:
If the vehicle is not at the safety in motion and paddles in region, determine that the vehicle is unsatisfactory for institute in motion Safety traffic condition is stated, or
If determining that the vehicle can not stop in safety region of paddling according to vehicle speed in motion and direction Vehicle determines that the vehicle is unsatisfactory for the safety traffic condition in motion, or
If determining that the vehicle can not avoid the non-security area that paddles according to vehicle speed in motion and direction Domain determines that the vehicle is unsatisfactory for the safety traffic condition in motion.
10. a kind of electronic equipment, which is characterized in that the electronic equipment and laser radar communication connection, the laser radar It is set to vehicle, the road surface ahead region of the vehicle is defined as setting regions, and the electronic equipment includes:
The emission time time of reception obtains module, for clicking through when the laser radar to multiple settings in the setting regions When row scanning, for each set point, the laser radar is obtained to the emission time of set point transmitting first laser beam, is obtained The laser radar is taken to receive the time of reception of second laser beam, the second laser beam is the first laser beam in the setting Reflection laser beam at point；The set point is that the first laser beam is made to generate point corresponding to irreflexive object；
Set point D coordinates value determining module, for according to the corresponding emission time of each set point and the time of reception, Determine D coordinates value of each set point under world coordinate system；
Pavement-height value determining module, for determining each set point in the world according to the electronic map prestored Pavement-height value under coordinate system；
Ponding determination type module, for the D coordinates value and pavement-height value according to each set point, determine described in Ponding type at each set point；
Depth of accumulated water figure obtains module, for obtaining the depth of accumulated water figure of the setting regions according to the ponding type.
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